CN111325801B - Combined calibration method for laser radar and camera - Google Patents
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention relates to a combined calibration method of a laser radar and a camera, which aims at a cubic target to carry out one-time shooting by a sensor, obtains three-dimensional point cloud of the cubic target by the shooting of the laser radar, and obtains a rotation matrix R from a laser radar coordinate system to a world coordinate system in which the cubic target is positionedLWAnd translation matrix TLW(ii) a Shooting by a camera to obtain an image of the cubic target, and obtaining a rotation matrix R from a camera coordinate system to a world coordinate system where the cubic target is locatedCWAnd translation matrix TCW(ii) a Finally, transformation of coordinate systems is carried out according to the two previous pairs of rotation and translation matrixes to obtain a rotation matrix R between the laser radar and the cameraLCAnd translation matrix TLC。
Description
Technical Field
The invention belongs to the technical field of sensor fusion calibration, and particularly relates to calibration of external parameters between a laser radar and a camera.
Background
The laser radar is based on the ToF (time of flight) principle, continuously sends laser pulses to a target, then receives light returned by an object by using a sensor, and achieves the purpose of detecting the distance by detecting the round-trip flight time of the emitted laser and the received laser. The vision measurement is to use a camera to collect a measurement image and use the accurate mapping relation between the image information and the geometric information in the object space to realize the measurement. By adopting the scheme of fusing the laser radar and the camera, the laser radar can accurately acquire the three-dimensional information of the object, and the camera can acquire the rich texture and color information of the object, so that the object information can be extracted to the greatest extent by combining the advantages of the laser radar and the camera.
The joint calibration of the laser radar and the vision sensor is the basis for accurate measurement of the sensor. External reference calibration of the laser radar and the vision sensor is divided into an online method and an offline method. The online calibration refers to calibrating the sensor in the using process of the system, and the offline calibration refers to calibrating the sensor before use. The online method may be used when the vehicle or robot cannot conveniently perform offline calibration. However, offline calibration methods may provide more accurate results where feasible.
Off-line calibration of the laser radar and the vision sensor generally adopts a Zhang calibration method, a planar checkerboard target is printed, the planar checkerboard target is placed at different positions and is shot by the laser radar and the camera respectively, and external parameters between the laser radar and the camera are found by fixing the relative position relationship between the laser radar and the camera into geometric constraint. However, this method requires repeatedly moving the position of the target, and measures are performed at a plurality of positions to obtain a more accurate calibration result, which is complicated to operate and inefficient.
In view of the defects of the traditional calibration method, the invention provides the three-dimensional calibration method between the laser radar and the camera, the external parameter matrix between the laser radar and the camera can be obtained only by one-time measurement, the operation is simple and convenient, and the efficiency is high.
Disclosure of Invention
The invention aims to solve the problem that the traditional laser radar and camera calibration efficiency is low, and provides a novel method for calibrating the laser radar and the camera. The technical scheme is as follows:
a combined calibration method for a laser radar and a camera includes the steps that a sensor is aligned to a cubic target to carry out shooting for one time, the laser radar shoots to obtain three-dimensional point cloud of the cubic target, and the three-dimensional point cloud is obtainedRotation matrix R from laser radar coordinate system to world coordinate system of cubic targetLWAnd translation matrix TLW(ii) a Shooting by a camera to obtain an image of the cubic target, and obtaining a rotation matrix R from a camera coordinate system to a world coordinate system where the cubic target is locatedCWAnd translation matrix TCW(ii) a Finally, transformation of coordinate systems is carried out according to the two previous pairs of rotation and translation matrixes to obtain a rotation matrix R between the laser radar and the cameraLCAnd translation matrix TLC. The method comprises the following steps:
(1) making a cubic box as a cubic target, three adjacent faces of the box being pi1、π2、π3Arranging the same black and white checkerboard targets, wherein the side length of each checkerboard and the number of the checkerboards are known;
(2) fixing the laser radar and the camera, placing the cubic target in the center of the visual fields of the laser radar and the camera, and enabling three surfaces with checkerboards to face the laser radar and the camera;
(3) shooting a target by using a laser radar to obtain a depth map of the target;
(4) converting the depth map into a three-dimensional point cloud under a laser radar coordinate system according to a pinhole imaging principle;
(5) fitting pi by random sampling consensus (RANSAC) algorithm1、π2、π3The equations of the three planes in the lidar coordinate system:
a1x+b1y+c1z+d1＝0
a2x+b2y+c2z+d2＝0
a3x+b3y+c3z+d3＝0
get pi from the above equation1、π2、π3The direction of the unit normal vector is selected to be in accordance with the direction of a right-hand coordinate system:
(6) calculate out the plane pi1、π2、π3Coordinates of intersection point O:
(7) calculating a rotation matrix R from a laser radar coordinate system to a world coordinate systemLWAnd translation matrix TLW：
RLW＝[Ln1,Ln2,Ln3]-1
TLW＝-[LxO LyO LzO]T
(8) Shooting by a camera to obtain an image of a cubic target, and splitting the three checkerboard images into three parts, wherein each part only comprises one checkerboard image;
(9) calculating out plane pi according to Zhang's scaling method1、π2、π3Rotation matrix R to the camera coordinate system1、R2、R3And translation matrix T1、T2、T3；
(10) Calculate out the plane pi1、π2、π3A normal vector in a camera coordinate system;
Cn1＝R1·(0，0，1)T
Cn2＝R2·(0，0，1)T
Cn3＝R3·(0，0，1)T
(11) computingOut-of-plane pi1、π2、π3Equation under camera coordinate system:
([x,y,z]-T1 T)·Cn1＝0
([x,y,z]-T2 T)·Cn2＝0
([x,y,z]-T3 T)·Cn3＝0
(12) calculate out the plane pi1、π2、π3Coordinates of intersection O of (a) in the camera coordinate system:
(CxO,CyO,CzO)＝[Cn1,Cn2,Cn3]-1[T1 TCn1,CT2 Tn2,CT3 Tn3]
(13) calculating a rotation matrix R from a camera coordinate system to a world coordinate systemCWAnd translation matrix TCW：
RCW＝[Cn1,Cn2,Cn3]-1
TCW＝-[CxO,CyO,CzO]T
(14) Calculating a rotation matrix R from a laser radar coordinate system to a camera coordinate systemLCAnd translation matrix TLC：
Drawings
FIG. 1 is a flow chart of the combined calibration of external parameters by a lidar and a camera adopted by the invention.
FIG. 2 is a schematic diagram of a cubic calibration target used in the present invention.
FIG. 3 is a schematic diagram of coordinate transformation from a laser radar coordinate system to a world coordinate system in a calibration process of the present invention.
FIG. 4 is a schematic diagram of coordinate system transformation from a camera coordinate system to a world coordinate system in the calibration process of the present invention.
Detailed Description
The invention provides a combined calibration method of a laser radar and a camera, wherein the laser radar and the camera are used for shooting a cubic target provided by the invention once respectively to obtain an external parameter matrix between the laser radar and the camera. The target is a cube, the side length does not need to be known, three identical checkerboard targets are respectively arranged on three adjacent faces of the cube, and the side length and the number of the checkerboard grids are known. The entire target is shown in figure 2.
Specifically, the calibration target used in the invention is a cubic target, wherein three adjacent faces of the target are pi1、π2、π3The black and white checkerboard targets are respectively arranged on the checkerboard target, the side length of each checkerboard target and the number of the checkerboards are known, and the rest checkerboards do not need to be specified in size.
According to the calibration method, in the shooting process by using the laser radar and the camera, the calibration target is required to be approximately in the center of the visual fields of the laser radar and the camera, and the camera can shoot three surfaces with the checkerboard target so as to obtain a better image.
The world coordinate system of the cubic target is a three-plane pi of a cube1、π2、π3Respectively as a space rectangular coordinate system OW-XWYWZWPlane X ofWOWYWPlane YWOWZWPlane ZWOWXWRight-hand space rectangular coordinate system.
The laser radar shoots the cubic target to obtain the depth map of the target, and the depth map can be converted into the cube according to the internal reference and small hole imaging principle of the laser radarA three-dimensional point cloud of the target. Fitting an equation of three surfaces of the cubic target in a laser radar coordinate system in the point cloud according to a random sampling consensus (RANSAC) algorithm, and solving a rotation matrix R between the laser radar coordinate system and a world coordinate system according to coordinate system transformationLWAnd translation matrix TLW。
Shooting a cubic target by a camera to obtain an image of the target, wherein the image simultaneously comprises pi of the cubic target1、π2、π3The checkerboard images of the three surfaces are divided into three parts, and each part only comprises one checkerboard image. According to the Zhang scaling method, pi can be obtained1、π2、π3The equations of the three planes in the camera coordinate system are transformed according to the coordinate system to obtain a rotation matrix R between the camera coordinate system and the world coordinate systemCWAnd translation matrix TCW。
Finally, according to the coordinate transformation, a rotation matrix R between the laser radar coordinate system and the camera coordinate system is obtainedLCAnd translation matrix TLC。
The specific process of calibration is as follows:
1. the laser radar and the camera are fixed well, and the laser radar and the camera cannot be moved in the calibration process.
2. Placing the cubic target in the center of the visual field of the laser radar and the camera to enable the laser radar and the camera to clearly shoot the target, and placing the three planes pi with the checkerboard target1、π2、π3The lens of the laser radar and the camera are aligned, so that clear images can be shot.
3. And opening the laser radar and the camera, and shooting the target once respectively to obtain stable data. The laser radar obtains a depth map of the target, and the camera obtains a color image of the target.
4. And converting the depth map shot by the laser radar into a three-dimensional point cloud of the target by using internal reference of the laser radar according to the pinhole imaging principle.
Wherein (A) and (B)LxP,LyP,LzP) In order to convert the coordinate of any point in the three-dimensional point cloud in the laser radar coordinate system,
is the depth value of any pixel of the depth map, m and n are the positions of the depth map pixels, f is the focal length of the lidar, dxAnd dyIs the actual size, u, of each pixel of the lidar photosensitive chip0And v0Is the position of the optical center of the lidar.
5. In the three-dimensional point cloud of the target, fitting three planes pi of the target by using a random sample consensus (RANSAC) algorithm1、π2、π3And obtaining equations of the three planes in a laser radar coordinate system.
a1x+b1y+c1z+d1＝0
a2x+b2y+c2z+d2＝0
a3x+b3y+c3z+d3＝0
6. Calculate out the plane pi1、π2、π3The direction of the unit normal vector is selected to be in accordance with the direction of the right-hand coordinate system. As shown in fig. 3.
7. Calculate out the plane pi1、π2、π3Coordinates of intersection of (1: (LxO,LyO,LzO)。
8. Calculating a rotation matrix R from a laser radar coordinate system to a world coordinate systemLWAnd translation matrix TLW。
RLW＝[Ln1,Ln2,Ln3]-1
TLW＝-[LxO LyO LzO]T
9. The camera shoots an image of a cubic target, wherein the image comprises three checkerboards, and the approximate area of each checkerboard is divided to obtain three checkerboard target images.
10. And detecting the pixel coordinates of all the corner points of the three checkerboard images by using a Harris corner point detection method.
11. Inputting the size and number of each checkerboard, camera internal parameters and all corner point pixel coordinates on each checkerboard into a function of the Zhang scaling method, and calculating the plane pi1、π2、π3Rotation matrix R to the camera coordinate system1、R2、R3And translation matrix T1、T2、T3。
12. Let plane Pi1、π2、π3All plane equations in the world coordinate system are Z-0, so unit normal vectors are nZ(0, 0, 1), calculatePlane pi1、π2、π3Is represented in the camera coordinate systemCn1,Cn2,Cn3。
Cn1＝R1·(0，0，1)T
Cn2＝R2·(0，0，1)T
Cn3＝R3·(0，0，1)T
13. Calculate out the plane pi1、π2、π3Equations in the camera coordinate system.
14. The three equations are combined to calculate the plane pi1、π2、π3The intersection O of (a) is the coordinate in the camera coordinate system.
(CxO,CyO,CzO)＝[Cn1,Cn2,Cn3]-1[T1 TCn1,CT2 Tn2,CT3 Tn3]
15. Calculating a rotation matrix R from a camera coordinate system to a world coordinate systemCWAnd translation matrix TCW。
RCW＝[Cn1,Cn2,Cn3]-1
TCW＝-[CxO,CyO,CzO]T
16. Calculating a rotation matrix R from a laser radar coordinate system to a camera coordinate systemLCAnd translation matrix TLC。
Claims (1)
1. A combined calibration method of a laser radar and a camera includes the steps that a sensor is aligned to a cubic target to conduct shooting for the first time, the laser radar shoots to obtain three-dimensional point cloud of the cubic target, and a rotation matrix R from a laser radar coordinate system to a world coordinate system where the cubic target is located is obtainedLWAnd translation matrix TLW(ii) a Shooting by a camera to obtain an image of the cubic target, and obtaining a rotation matrix R from a camera coordinate system to a world coordinate system where the cubic target is locatedCWAnd translation matrix TCW(ii) a Finally, transformation of coordinate systems is carried out according to the two previous pairs of rotation and translation matrixes to obtain a rotation matrix R between the laser radar and the cameraLCAnd translation matrix TLCThe method comprises the following steps:
(1) making a cubic box as a cubic target, three adjacent faces of the box being pi1、π2、π3Arranging the same black and white checkerboard targets, wherein the side length of each checkerboard and the number of the checkerboards are known;
(2) fixing the laser radar and the camera, placing the cubic target in the center of the visual fields of the laser radar and the camera, and enabling three surfaces with checkerboards to face the laser radar and the camera;
(3) shooting a target by using a laser radar to obtain a depth map of the target;
(4) converting the depth map into a three-dimensional point cloud under a laser radar coordinate system according to a pinhole imaging principle;
(5) get pi from the above equation1、π2、π3The direction of the unit normal vector is selected to be in accordance with the direction of a right-hand coordinate system:
(6) calculate out the plane pi1、π2、π3Coordinates of the intersection of (1):
(7) calculating a rotation matrix R from a laser radar coordinate system to a world coordinate systemLWAnd translation matrix TLW：
RLW＝[Ln1,Ln2,Ln3]-1
TLW＝-[LxO LyO LzO]T
(8) Shooting by a camera to obtain an image of a cubic target, and splitting the three checkerboard images into three parts, wherein each part only comprises one checkerboard image;
(9) calculating out plane pi according to Zhang's scaling method1、π2、π3Rotation matrix R to the camera coordinate system1、R2、R3And translation matrix T1、T2、T3；
(10) Calculate outPlane pi1、π2、π3A normal vector in a camera coordinate system;
Cn1＝R1·(0，0，1)T
Cn2＝R2·(0，0，1)T
Cn3＝R3·(0，0，1)T
(11) calculate out the plane pi1、π2、π3Equation under camera coordinate system:
(12) calculate out the plane pi1、π2、π3Coordinates of intersection 0 under the camera coordinate system:
(13) calculating a rotation matrix R from a camera coordinate system to a world coordinate systemCWAnd translation matrix TCW：
RCW＝[Cn1,Cn2,Cn3]-1
TCW＝-[CxO,CyO,CzO]T
(14) Calculating the rotation of the laser radar coordinate system to the camera coordinate systemMatrix RLCAnd translation matrix TLC：
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